Robotic disassembly sequence re-planning

Based on the detection strategy introduced in Chapter 4, a ternary Bees Algorithm is presented to provide a re-planning solution, combining the disassembly order and the direction of not only detachable components but also the removable subassemblies. The algorithm possesses the merits of both the original Bees Algorithm and greedy search. Although it is designed for complete disassembly, the local search operator can be modified to adapt to both selective disassembly and partial disassembly. Due to its iterative character, the ternary Bees Algorithm is more suitable for small- and mediumscale products (where the number of components is fewer than 200, which is about ten times the number in the case studies considered in this chapter). With more decision variables, the decision-making time may increase. The re-planning process will therefore become inefficient.